Vehicle door control apparatus and vehicle

ABSTRACT

A vehicle door control apparatus includes a sensor provided on a door of a vehicle. The vehicle door control apparatus also includes a processor configured to control opening or closing of the door based on information regarding an object sensed through the sensor.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of an earlier filing date and rightof priority to Korean Patent Application No. 10-2016-0032885, filed onMar. 18, 2016 in the Korean Intellectual Property Office, the disclosureof which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a vehicle door control apparatus and avehicle.

BACKGROUND

A vehicle is an apparatus that allows a user who rides therein to drivethe apparatus in a desired direction. A representative example of thevehicle may be an automobile.

Vehicles are typically equipped with various sensors and electronicdevices designed to improve convenience of the user who uses thevehicle. For example, various sensors and devices for improving drivingconvenience have been developed.

SUMMARY

Systems and techniques are disclosed that provide a vehicle door controlapparatus configured to control an opening or a closing of a door of thevehicle according to information that is sensed regarding thesurroundings of the vehicle.

In one aspect, a vehicle door control apparatus includes a sensorprovided on a door of a vehicle; and a processor configured to controlopening or closing of the door based on information regarding an objectsensed through the sensor.

In some implementations, the door is a tailgate, the sensor is coveredby an emblem formed in one area of the tailgate, and the processor isconfigured to control motion of the emblem such that, based on anoccurrence of a first event, the processor controls a movement of theemblem to expose the sensor.

In some implementations, the emblem is configured to rotate about ahorizontal axis or a vertical axis, and the processor is configured tocontrol a rotation of the emblem about the horizontal axis or about thevertical axis based on the occurrence of the first event.

In some implementations, the first event is an input signal receptionevent for opening the door that is received through an input unit thatis provided near the emblem.

In some implementations, the sensor is an ultrasonic sensor or a camera.

In some implementations, the camera includes an around view monitoring(AVM) apparatus, a blind spot detection (BSD) apparatus, or a rearcamera apparatus provided in the vehicle.

In some implementations, the processor is configured to: detect adistance between the door and the object; and control opening or closingof the door based on the distance detected between the door and theobject.

In some implementations, the processor is configured to: based on thedistance between the door and the object being within a thresholddistance, control opening of the door such that the door and the objectdo not come into contact.

In some implementations, the processor is configured to: based on thedistance between the door and the object being within a thresholddistance, provide a signal for controlling the door not to be openeddespite an occurrence of a first event.

In some implementations, the processor is configured to: based on thedoor being opened, stop the opening of the door based on the objectsensed through the sensor being located within an opening trajectory ofthe door.

In some implementations, the sensor is configured to sense objectswithin a sensing range, and the sensing range of the sensor is adaptedin correspondence with a motion of the door of the vehicle.

In some implementations, the vehicle door control apparatus furtherincludes: an interface configured to communicate with a power sourcedrive unit that is configured to control a power source provided in thevehicle. The door may be a tailgate, and the processor may be furtherconfigured to: based on the object sensed by the sensor being locatedwithin an opening trajectory of the tailgate, provide a signal, to thepower source drive unit, for moving the vehicle in a forward direction.

In some implementations, the processor may be configured to provide thesignal to the power source drive unit for moving the vehicle in theforward direction by a distance such that the object sensed by thesensor is outside of the opening trajectory of the tailgate.

In some implementations, the processor may further be configured tocontrol an opening of the tailgate while the vehicle moves in theforward direction.

In some implementations, the interface may be configured to communicatewith a brake drive unit that is configured to control a brake apparatusprovided in the vehicle. The processor may be further configured to:receive, through the interface, information regarding a forward objectlocated in front of the vehicle, and provide a signal, to the brakedrive unit, for stopping the vehicle based on the forward object beinglocated on a movement route of the vehicle moving in the forwarddirection.

In some implementations, the processor may further be configured to:based on a second event occurring in a state of opening the tailgate,control closing of the tailgate, and provide a signal for moving thevehicle in a backwards direction such that a backward movement of thevehicle is in correspondence with a closing speed of the tailgate.

In some implementations, the processor may be further configured to:based on receiving, through the interface, information regarding a rearobject located behind the vehicle, control the tailgate to close with afirst closing speed that is greater than a second closing speed withwhich the tailgate is closed based on the information regarding the rearobject not being received.

In some implementations, the interface may be configured to communicatewith a brake drive unit for controlling a brake apparatus provided inthe vehicle. The processor may be configured to: detect a distancebetween the vehicle and the object; and provide a signal, to the brakedrive unit, for stopping the vehicle based on the distance being withina threshold distance.

In some implementations, the processor may be configured to, based onclosing the door, stop the closing of the door based on the object beinglocated within a closing trajectory of the door.

In some implementations, the door may be a tailgate, the sensor may berotatably formed, and the processor may be configured to control arotation of the sensor based on an occurrence of an event.

In some implementations, the vehicle door control apparatus may furtherinclude an interface configured to communicate with a vehicle displayapparatus. The processor may be configured to provide data to display,on the vehicle display apparatus, a stop area in which the door is ableto be opened or closed based on the information regarding the object.

In some implementations, the vehicle door control apparatus may furtherinclude an interface configured to communicate with a brake drive unitthat is configured to control a brake apparatus provided in the vehicle.The processor may be configured to provide a signal to the brake driveunit to stop the vehicle in a stop area in which the door is able to beopened or closed based on the object information.

In some implementations, the door may be a side door, and the processormay be configured to control opening of the door within a range in whichthe side door and the object do not come into contact.

In another aspect, a vehicle may include a vehicle door controlapparatus according to one or more implementations described above.

All or part of the features described throughout this disclosure may beimplemented as a computer program product including instructions thatare stored on one or more non-transitory machine-readable storage media,and that are executable on one or more processing devices. All or partof the features described throughout this disclosure may be implementedas an apparatus, method, or electronic system that may include one ormore processing devices and memory to store executable instructions toimplement the stated functions. Details of the other implementations areincluded in the detailed description and drawings. Other features willbe apparent from the description and drawings, and from the claims. Thedescription and specific examples below are given by way of illustrationonly, and various changes and modifications will be apparent.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A to 1D are diagrams illustrating examples of an outer appearanceof a vehicle;

FIG. 2 is a block diagram illustrating an example of various componentsof a vehicle;

FIG. 3 is a block diagram illustrating an example of a vehicle doorcontrol apparatus;

FIG. 4 is a flowchart illustrating an example operation of a vehicledoor control apparatus;

FIG. 5 is a flowchart illustrating an example operation of a vehicledoor control apparatus;

FIGS. 6A to 6D are diagrams illustrating examples of operations of avehicle door control apparatus, such as that shown in FIG. 5;

FIG. 7 is a flowchart illustrating an example operation of a vehicledoor control apparatus;

FIGS. 8A to 8C are diagrams illustrating examples of operations of avehicle door control apparatus, such as that shown in FIG. 7;

FIG. 9 is a flowchart illustrating an example operation of a vehicledoor control apparatus;

FIGS. 10A to 10C are diagrams illustrating examples of operations of avehicle door control apparatus, such as that shown in FIG. 9;

FIG. 11 is a flowchart illustrating an example operation of a vehicledoor control apparatus;

FIGS. 12A to 12C are diagrams illustrating examples of operation of avehicle door control apparatus, such as that shown in FIG. 11;

FIG. 13 is a flowchart illustrating an example operation of a vehicledoor control apparatus;

FIGS. 14A to 14D are diagrams illustrating examples of operation of avehicle door control apparatus, such as that shown in FIG. 13;

FIG. 15 is a diagram illustrating an example operation of a vehicledisplay apparatus based on object information received in a vehicle doorcontrol apparatus; and

FIG. 16 is a diagram illustrating an example operation of a vehicle thatstops in a stop area where a door may be opened or closed based onobject information.

DETAILED DESCRIPTION

A vehicle may have automatic doors that are designed to automaticallyopen and/or close. However, if objects are located near the automaticdoor, the vehicle may be damaged when the door is automatically opened.In addition, if a person stands or moves near the automatic door, theperson may be injured when the door is automatically opened.

As an example, vehicles such as SUVs, hatchbacks, or wagons mayimplement a rear-facing door, such as a tailgate, that may come intocontact with a person, a structure, or another vehicle when the tailgateis opened or closed.

Accordingly, there may be a problem caused by contact or collision withautomatically controlled vehicle doors.

Systems and techniques are disclosed herein that provide a vehicle doorcontrol apparatus configured to control opening or closing of a vehicledoor according to sensed object information. The vehicle door controlapparatus includes a sensor provided on a door of the vehicle and aprocessor that controls opening or closing of the door based oninformation of an object sensed through the sensor.

A vehicle as described in this specification may include an automobileand a motorcycle. Hereinafter, an automobile will be focused upon.

A vehicle as described in this specification may include all of aninternal combustion engine vehicle including an internal combustionengine as a power source, a hybrid vehicle including both an internalcombustion engine and an electric motor as a power source, and anelectric vehicle including an electric motor as a power source.

In the following description, the left of a vehicle means the left ofthe vehicle in the direction of travel and the right of the vehiclemeans the right of the vehicle in the direction of travel.

FIGS. 1A to 1D are block diagrams of a vehicle according to oneimplementation.

Referring to FIGS. 1A to 1D, the vehicle 100 may include wheels rotatedby a power source and a steering input device for controlling thedirection of travel of the vehicle 100.

In some implementations, the vehicle 100 may be an autonomous vehicle.The autonomous vehicle may be switched to an autonomous traveling modeor a manual mode according to user input. When the autonomous vehicle isswitched to the manual mode, the autonomous vehicle 100 may receivesteering input via the steering input device. The vehicle 100 mayinclude one or more doors 10FR, 10FL, 10RR, 10RL and 20. The doors 10FR,10FL, 10RR, 10RL and 20 divide internal and external spaces of thevehicle 100 and are automatically or manually opened or closed. Thedoors may include side doors 10FR, 10FL, 10RR and 10RL opened or closedwhen a user gets into the vehicle, a trunk, a tailgate 20 and a hood.

The vehicle 100 may include a vehicle door control apparatus 200. Insome implementations, the vehicle door control apparatus 200 may be anaround view monitoring (AVM) apparatus.

An overall length refers to a length from the front part to the rearpart of the vehicle 100, an overall width refers to the width of thevehicle 100, and an overall height refers to the length from the lowerpart of a wheel to a roof. In the following description, the overalllength direction L may refer to a reference direction for measuring theoverall length of the vehicle 100, an overall width direction W mayrefer to a reference direction for measuring the overall width of thevehicle 100, and an overall height direction H may refer to a referencedirection for measuring the overall height of the vehicle 100.

Referring to FIG. 1B, the vehicle 100 may include the tailgate 20. Thetailgate 20 may be included in a vehicle such as an SUV, MPV, van, wagonor hatchback. In general, the tailgate 20 may be rotated in the upperand lower directions of the ground to be opened or closed. In order toopen the tailgate 20, a space having a predetermined length from thebody of the vehicle 100 is required. That is, when viewing the vehiclefrom the side, a space having a predetermined length 25 from a rearbumper of the vehicle to the rear side of the vehicle 100 should besecured, in order to open the tailgate 20.

If the tailgate 20 is opened in a state in which the space is notsecured, the tailgate 20 may be damaged or an object or person near thevehicle may be damaged or injured.

In order to prevent such damage, the vehicle 100 may include the vehicledoor control apparatus 200 according to the implementation.

Referring to FIG. 1C, an emblem 30 of a vehicle manufacturer may beformed in one area of the tailgate 20. In some implementations, theemblem 30 may be configured to cover a sensor (e.g., sensor 225 of FIG.3). As such, a sensor (e.g., sensor 225 of FIG. 3) included in thevehicle door control apparatus 200 may be concealed by the emblem 30.

As shown in FIG. 1C, the emblem may be configured to rotate. Forexample, the emblem 30 may be formed on the tailgate 20 to rotate in anupper-and-lower direction about a horizontal axis 31 a or to rotateabout the overall horizontal width direction 31. Alternatively, theemblem 30 may be formed on the tailgate 20 to rotate in a right-and-leftdirection about a vertical axis 32 a or to rotate about the overallheight direction 32, as shown in FIG. 1C.

FIG. 1D is a view referenced to explain operation of the vehicle doorcontrol apparatus when a door is a side door according to animplementation. Referring to FIG. 1D, if an object 1000 is locatedaround the vehicle 100, when the side door 10FL is opened, the side door10FL and the object 1000 may be come into contact with each other. Inorder to prevent contact, a processor 270 included in the vehicle doorcontrol apparatus 200 may control opening of the door 10FL within arange within which the side door 10FL and the object 1000 do not comeinto contact with each other.

FIG. 2 is a block diagram referenced to explain a vehicle according tothe implementation.

Referring to FIG. 2, the vehicle 100 may include a communication unit110, an input unit 120, a sensing unit 125, a memory 130, an output unit140, a vehicle drive unit 150, a controller 170, an interface 180, apower supply unit 190, and a vehicle door control device 200.

The communication unit 110 may include a short-range communicationmodule 113, a location information module 114, an optical communicationmodule 115 and a V2X communication module 116.

The short-range communication module 113 may assist short-rangecommunication using at least one selected from among Bluetooth™, RadioFrequency Identification (RFID),

Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, NearField Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct,Wireless USB (Wireless Universal Serial Bus), and the like.

The short-range communication module 113 may form short-range wirelessarea networks to perform short-range communication between the vehicle100 and at least one external device. For example, the short-rangecommunication module 113 may exchange data with a mobile terminal in awireless manner. The short-range communication module 113 may receiveweather information and road traffic state information (e.g., TransportProtocol Experts Group (TPEG) information) from the mobile terminal.When a user enters the vehicle 100, the mobile terminal of the user andthe vehicle 100 may pair with each other automatically or as the userexecutes a pairing application.

The location information module 114 is a module to acquire a location ofthe vehicle 100. A representative example of the location informationmodule 114 includes a Global Positioning System (GPS) module. Forexample, when the vehicle utilizes a GPS module, a location of thevehicle 100 may be acquired using signals transmitted from GPSsatellites.

In some implementations, the location information module 114 may not beincluded in the communication unit 110 but may be included in thesensing unit 125.

The optical communication module 115 may include a light emitting unitand a light receiving unit.

The light receiving unit may convert light into electrical signals toreceive information. The light receiving unit may include Photodiodes(PDs) for receiving light. The photodiodes may convert light intoelectrical signals. For example, the light receiving unit may receiveinformation regarding a preceding vehicle via light emitted from a lightsource included in the preceding vehicle.

The light emitting unit may include at least one light emitting elementfor converting electrical signals into light. Here, the light emittingelement may be a Light Emitting Diode (LED). The light emitting unitconverts electrical signals into light to emit the light. For example,the light emitting unit may externally emit light via flickering of thelight emitting element corresponding to a prescribed frequency. In someimplementations, the light emitting unit may include an array of aplurality of light emitting elements. In some implementations, the lightemitting unit may be integrated with a lamp provided in the vehicle 100.For example, the light emitting unit may be at least one selected fromamong a headlight, a taillight, a brake light, a turn signal, and asidelight. For example, the optical communication module 115 mayexchange data with another vehicle via optical communication.

The V2X communication module 116 performs wireless communication with aserver or another vehicle. The V2X module 116 includes a module forimplementing a vehicle-to-vehicle (V2V) or vehicle-to-infrastructure(V2I) communication protocol. The vehicle 100 may perform wirelesscommunication with an external server and another vehicle through theV2X communication module 116.

The input unit 120 may include a driving operation unit 121, amicrophone 123, and a user input unit 124.

The driving operation unit 121 is configured to receive user input fordriving of the vehicle 100. The driving operation unit 121 may include asteering input unit, a shift input unit, an acceleration input unit, anda brake input unit.

The steering input unit is configured to receive user input with regardto the direction of travel of the vehicle 100. The steering input unitmay include a steering wheel. In some implementations, the steeringinput unit 121 a may be configured as a touchscreen, a touch pad, or abutton.

The shift input unit is configured to receive input for selecting one ofPark (P), Drive (D), Neutral (N), and Reverse (R) gears of the vehicle100 from the user. The shift input unit 121 b may have a lever form. Insome implementations, the shift input unit may be configured as atouchscreen, a touch pad, or a button.

The acceleration input unit 121 c is configured to receive user inputfor acceleration of the vehicle 100. The brake input unit 121 d isconfigured to receive user input for speed reduction of the vehicle 100.Each of the acceleration input unit and the brake input unit may have apedal form. In some implementations, the acceleration input unit or thebrake input unit may be configured as touchscreen, a touch pad, or abutton.

The microphone 123 may process external sound signals into electricaldata. The processed data may be utilized in various ways according to afunction that the vehicle 100 is performing. The microphone 123 mayconvert a user voice command into electrical data. The convertedelectrical data may be transmitted to the controller 170.

In some implementations, a camera 122 or the microphone 123 may not beincluded in the input unit 120 but may be included in the sensing unit125.

The user input unit 124 is configured to receive information from theuser. When information is input via the user input unit 124, thecontroller 170 may control the operation of the vehicle 100 tocorrespond to the input information. The user input unit 124 may includea touch input unit or a mechanical input unit. In some implementations,the user input unit 124 may be located in a region of the steeringwheel. In this case, the driver may operate the user input unit 124 withthe fingers while gripping the steering wheel.

The sensing unit 125 is configured to sense signals associated with, forexample, various states or external states of the vehicle 100. To thisend, the sensing unit 125 may include various types of sensors, examplesof which include but are not limited to a collision sensor, a wheelsensor, a speed sensor, gradient sensor, a weight sensor, a headingsensor, a yaw sensor, a gyro sensor, a position module, a vehicleforward/reverse sensor, a battery sensor, a fuel sensor, a tire sensor,a steering sensor based on rotation of the steering wheel, a vehicleinterior temperature sensor, a vehicle interior humidity sensor, anultrasonic sensor, an illuminance sensor, an acceleration pedal positionsensor, a brake pedal position sensor, etc.

As such, the sensing unit 125 may acquire sensing signals with regardto, for example, vehicle collision information, vehicle travelingdirection information, vehicle location information (GPS information),vehicle angle information, vehicle speed information, vehicleacceleration information, vehicle tilt information, vehicleforward/reverse information, battery information, fuel information, tireinformation, vehicle lamp information, vehicle interior temperatureinformation, vehicle interior humidity information, steering wheelrotation angle information, information on external illuminance of thevehicle, information on pressure applied to the acceleration pedal,information on pressure applied to the brake pedal, etc.

Meanwhile, the sensing unit 125 may further include, for example, anaccelerator pedal sensor, a pressure sensor, an engine speed sensor, anAir Flow-rate Sensor (AFS), an Air Temperature Sensor (ATS), a WaterTemperature Sensor (WTS), a Throttle Position Sensor (TPS), a Top DeadCenter (TDC) sensor, and a Crank Angle Sensor (CAS).

The location information module 114 may be classified as a subcomponentof the sensing unit 125.

The sensing unit 125 may include an object sensing unit for sensing anobject located around the vehicle. Here, the object sensing unit mayinclude a camera module, a radar, a Lidar, and an ultrasonic sensor. Inthis case, the sensing unit 125 may sense a front object located infront of the vehicle or a rear object located behind the vehicle throughthe camera module, the radar, the Lidar or the ultrasonic sensor.

The sensing unit 125 may include a camera module. In someimplementations, the camera module may include an external camera modulefor capturing an image of the outside of the vehicle, and an internalcamera module for capturing an image of the space inside the vehicle100.

The external camera module may include one or more cameras for capturingthe image of the outside of the vehicle 100. The external camera modulemay include, for example, an around view monitoring (AVM) apparatus, ablind spot detection (BSD) apparatus, and/or a rear camera apparatus.

The AVM apparatus may synthesize a plurality of images acquired by aplurality of cameras to provide an image of a view around the vehicle.The AVM apparatus may synthesize and convert a plurality of images intoan image conveniently visible to a user and display the image. Forexample, the AVM apparatus may synthesize and convert a plurality ofimages into a top-view image and display the top-view image.

For example, the AVM apparatus may include first to fourth cameras. Inthis case, the first camera may be located around a front bumper, aradiator grille, an emblem or,a windshield. The second camera may belocated on a left side mirror, a left front door, a left rear door and aleft fender. The third camera may be located on a right side mirror, aright front door, a right rear door or a right fender. The fourth cameramay be located around a rear bumper, an emblem or a license plate.

The BSD apparatus may detect an object from the images acquired by oneor more cameras and output an alarm when it is determined that collisionwith the object may occur.

For example, the BSD apparatus may include first and second cameras. Inthis case, the first camera may be located on a left side mirror, a leftfront door, a left rear door or a left fender. The second camera may belocated on a right side mirror, a right front door, a right rear door ora right fender.

The rear camera apparatus may include a camera for acquiring an image ofthe rear side of the vehicle.

For example, the rear camera apparatus may be located near a rearbumper, an emblem or a license plate.

The camera of the sensors (e.g., 225 of FIG. 3) included in the vehicledoor control device 200 may be included in any one of the AVM apparatus,the BSD apparatus and the rear camera apparatus included in the vehicle100.

In some implementations, the internal camera module may include one ormore cameras for capturing the image of the internal space of thevehicle 100. For example, the internal camera may acquire an image of apassenger.

The processor of the internal camera module may acquire the image of thepassenger of the vehicle 100 and detect the number of passengers and inwhich seat the passenger sits. For example, the internal camera modulemay detect whether a fellow passenger gets into the vehicle and in whichseat the fellow passenger sits.

The memory 130 is electrically connected to the controller 170. Thememory 130 may store basic data of the unit, control data for operationcontrol of the unit and input/output data. The memory 130 may be variousstorage apparatuses, which are implemented in a hardware manner, such asa ROM, RAM, EPROM, flash drive and hard drive. The memory 130 may storea variety of data for overall operation of the vehicle 100, such as aprogram for processing or control of the controller 170.

The output unit 140 is configured to output information processed in thecontroller 170. The output unit 140 may include a display unit 141, asound output unit 142, and a haptic output unit 143.

The display unit 141 may display various graphical objects. For example,the display unit 141 may display vehicle associated information. Here,the vehicle associated information may include vehicle controlinformation for direct control of the vehicle or driver assistanceinformation for guiding driving of the vehicle. In addition, the vehicleassociated information may include vehicle state information thatindicates the current state of the vehicle or vehicle travelinginformation regarding traveling of the vehicle.

The display unit 141 may include at least one selected from among aLiquid Crystal Display (LCD), a Thin Film Transistor LCD (TFT LCD), anOrganic Light Emitting Diode (OLED), a flexible display, a 3D display,and an e-ink display.

The display unit 141 may configure an inter-layer structure with a touchsensor, or may be integrally formed with the touch sensor to implement atouchscreen. The touchscreen may function as the user input unit 124which provides an input interface between the vehicle 100 and the userand also function to provide an output interface between the vehicle 100and the user. In this case, the display unit 141 may include a touchsensor which senses a touch to the display unit 141 so as to receive acontrol command in a touch manner. When a touch is input to the displayunit 141 as described above, the touch sensor may sense the touch andthe controller 170 may generate a control command corresponding to thetouch. Content input in a touch manner may be characters or numbers, ormay be, for example, instructions in various modes or menu items thatmay be designated.

Meanwhile, the display unit 141 may include a cluster to allow thedriver to check vehicle state information or vehicle travelinginformation while driving the vehicle. The cluster may be located on adashboard. In this case, the driver may check information displayed onthe cluster while looking forward.

Meanwhile, in some implementations, the display unit 141 may beimplemented as a head up display (HUD). When the display unit 141 isimplemented as a HUD, information may be output via a transparentdisplay provided at the windshield. Alternatively, the display unit 141may include a projector module to output information via an imageprojected onto the windshield.

In some implementations, the display unit 141 may include a transparentdisplay. In this case, the transparent display may be attached to thewindshield.

The transparent display may display a predetermined screen withpredetermined transparency. The transparent display may include at leastone of a transparent thin film electroluminescent (TFEL) display, atransparent organic light emitting diode (OLED) display, a transparentliquid crystal display (LCD), a transmission-type transparent displayand a transparent light emitting diode (LED) display. Transparency ofthe transparent display may be adjusted.

The sound output unit 142 is configured to convert electrical signalsfrom the controller 170 into audio signals and to output the audiosignals. To this end, the sound output unit 142 may include, forexample, a speaker. The sound output unit 142 may output soundcorresponding to the operation of the user input unit 124.

The haptic output unit 143 is configured to generate tactile output. Forexample, the haptic output unit 143 may operate to vibrate a steeringwheel, a safety belt, or a seat so as to allow the user to recognize anoutput thereof.

The vehicle drive unit 150 may control the operation of various devicesof the vehicle. The vehicle drive unit 150 may include at least one of apower source drive unit 151, a steering drive unit 152, a brake driveunit 153, a lamp drive unit 154, an air conditioner drive unit 155, awindow drive unit 156, an airbag drive unit 157, a sunroof drive unit158, and a suspension drive unit 159.

The power source drive unit 151 may perform electronic control of apower source inside the vehicle 100.

For example, in the case where a fossil fuel based engine is a powersource, the power source drive unit 151 may perform electronic controlof the engine. As such, the power source drive unit 151 may control, forexample, an output torque of the engine. In the case where the powersource drive unit 151 is an engine, the power source drive unit 151 maycontrol the speed of the vehicle by controlling the output torque of theengine under the control of the controller 170.

In another example, in the case where an electric motor is a powersource, the power source drive unit 151 may perform control of themotor. As such, the power source drive unit 151 may control, forexample, the RPM and torque of the motor.

The steering drive unit 152 may perform electronic control of a steeringapparatus inside the vehicle 100. The steering drive unit 152 may changethe direction of travel of the vehicle.

The brake drive unit 153 may perform electronic control of a brakeapparatus inside the vehicle 100. For example, the brake drive unit 153may reduce the speed of the vehicle 100 by controlling the operation ofbrakes located at wheels. In another example, the brake drive unit 153may adjust the direction of travel of the vehicle 100 leftward orrightward by differentiating the operation of respective brakes locatedat left and right wheels.

The lamp drive unit 154 may turn at least one lamp arranged inside andoutside the vehicle 100 on or off. In addition, the lamp drive unit 154may control, for example, the intensity and direction of light of eachlamp. For example, the lamp drive unit 154 may perform control of a turnsignal lamp or a brake lamp.

The air conditioner drive unit 155 may perform electronic control of anair conditioner inside the vehicle 100. For example, when the interiortemperature of the vehicle 100 is high, the air conditioner drive unit155 may operate the air conditioner to supply cold air to the interiorof the vehicle 100.

The window drive unit 156 may perform electronic control of a windowapparatus inside the vehicle 100. For example, the window drive unit 156may control opening or closing of left and right windows of the vehicle100.

The airbag drive unit 157 may perform the electronic control of anairbag apparatus inside the vehicle 100. For example, the airbag driveunit 157 may control an airbag to be deployed in a dangerous situation.

The sunroof drive unit 158 may perform electronic control of a sunroofapparatus inside the vehicle 100. For example, the sunroof drive unit158 may control opening or closing of a sunroof.

The suspension drive unit 159 may perform electronic control of asuspension apparatus inside the vehicle 100. For example, when a roadsurface is uneven, the suspension drive unit 159 may control thesuspension apparatus to reduce vibrations of the vehicle 100.

In some implementations, the vehicle drive unit 150 may include achassis drive unit. The chassis drive unit may include the steeringdrive unit 152, the brake drive unit 153 and the suspension drive unit159.

The controller 170 may control the overall operation of each unit insidethe vehicle 100. The controller 170 may be referred to as an ElectronicControl Unit (ECU).

The controller 170 may be implemented in a hardware manner using atleast one selected from among Application Specific Integrated Circuits(ASICs), Digital Signal Processors (DSPs), Digital Signal ProcessingDevices (DSPDs), Programmable Logic Devices (PLDs), Field ProgrammableGate Arrays (FPGAs), processors, controllers, microcontrollers,microprocessors, and electric units for the implementation of otherfunctions.

The interface 180 may serve as a passage for various kinds of externaldevices that are connected to the vehicle 100. For example, theinterface 180 may have a port that is connectable to a mobile terminaland may be connected to the mobile terminal via the port. In this case,the interface 180 may exchange data with the mobile terminal.

The interface 180 may serve as a passage for providing electric energyto the connected mobile terminal. When the mobile terminal iselectrically connected to the interface 180, the interface 180 mayprovide electric energy supplied from the power supply unit 190 to themobile terminal under control of the controller 170.

The power supply unit 190 may supply power required to operate therespective components under the control of the controller 170. Inparticular, the power supply unit 190 may receive power from, forexample, a battery inside the vehicle 100.

The vehicle door control apparatus 200 may control opening or closing ofvarious doors included in the vehicle 100. Hereinafter, the vehicle doorcontrol apparatus 200 will be focused upon.

FIG. 3 is a block diagram referenced to explain a vehicle door controlapparatus according to the implementation.

Referring to FIG. 3, the vehicle door control apparatus 200 may includea communication unit 210, an input unit 220, a sensor 225, a sensordrive unit 226, an interface 230, a drive unit 250, a processor 270 anda power supply unit 290.

The communication unit 210 may exchange data with another device locatedoutside or inside the vehicle 100 in a wireless manner. Here, the otherdevice may include a mobile terminal, a server or another vehicle.

For example, the communication unit 210 may exchange data with a mobileterminal of a vehicle driver in a wireless manner. A wireless datacommunication method includes various data communication methods such asBluetooth, Wi-Fi Direct, Wi-Fi, APiX or NFC.

For example, the communication unit 210 may receive weather informationand road traffic state information (e.g., Transport Protocol ExpertsGroup (TPEG) information) from the mobile terminal or the server.

When a user gets into the vehicle 100, the mobile terminal of the userand the vehicle door control apparatus 200 may pair with each otherautomatically or as the user executes a pairing application.

The communication unit 210 may receive traffic light change informationfrom an external server. Here, the external server may be located at atraffic control center for controlling traffic.

The input unit 220 may receive user input. The input unit 220 mayinclude a mechanical input device, a touch input device, a voice inputdevice or a wireless input device.

The mechanical input device may include a button, a lever, a jog wheel,a switch, etc. For example, the input unit 220 may be provided in onearea of a tailgate (e.g., tailgate 20 of FIGS. 1B to 10). The input unit220 may be provided around an emblem (e.g., emblem 30 of FIG. 10). Theinput unit 220 may be provided inside the emblem (e.g., 30 of FIG. 10)in the form of a lever. In this case, the lever may receive a pluralityof inputs according to a motion amount.

The touch input device may include at least one touch sensor. The touchinput device may include a touchscreen.

The voice input device may include a microphone for converting uservoice into an electrical signal.

The wireless input device may receive wireless user input via a keyoutside the vehicle 100.

The input unit 220 may receive user input for opening or closing of thedoor included in the vehicle 100.

The sensor 225 may sense an object located around the vehicle 100. Forexample, the sensor 225 may be configured to sense objects such as aperson, a two-wheeled vehicle, another vehicle, a structure, etc.,located around the vehicle 100. The structure may be, for example, anobject fixed on the ground, such as a wall, a tree, a street lamp or apillar.

The sensor 225 may include various types of sensors for sensing anobject around the vehicle. For example, the sensor 225 may include acamera, an ultrasonic sensor, a radar, and/or a Lidar. In someimplementations, the sensor 225 is used to detect the object located ata short distance and thus may preferably include a camera or anultrasonic sensor.

The sensor 225 may be located on the door of the vehicle. For example,the sensor 225 may be provided in one area of the tailgate (e.g.,tailgate 20 of FIGS. 1B to 1C). In some implementations, the sensor 225may be concealed by the emblem (e.g., emblem 30 of FIG. 1c ) on thetailgate. In this case, the sensor 225 may be concealed by the emblem(e.g., 30 of FIG. 1c ) in a default state, and the sensor 225 may beexposed from the emblem to detect an object in state in which a firstevent occurs. The first event may be, for example, a door opening signalreception event received via the input unit 220.

In some implementations, the sensor 225 includes a camera, in which casethe camera may be included in an around view monitoring (AVM) apparatus,a blind spot detection (BSD) apparatus, or a rear camera apparatusprovided in the vehicle 100. For example, the sensor 225 may be a cameraprovided near the tailgate among the cameras included in the AVMapparatus or the rear camera apparatus.

The camera may detect an object based on the acquired image. The cameramay include an image sensor and an image processor. In someimplementations, the camera may be a stereo camera.

The image processor may process the acquired image and detect an object.The image processor may track the detected object. The image processormay detect the distance from the object. For example, the imageprocessor may detect the distance from the object using a pinhole, amotion vector, disparity or size change of the object.

In some implementations, the camera may provide image data to theprocessor 270 and the processor 270 may perform image processing on theimage data.

The ultrasonic sensor may include ultrasonic transmission and receptionunits. The ultrasonic sensor may detect an object based on a receptionultrasonic wave reflected from the object and detect the distance fromthe detected object.

In some implementations, the sensor 225 may be configured to move. Forexample, the sensor 225 may move about the same rotation axis as theopening trajectory of the door according to rotation. The sensor 225 mayrotate when the door rotates about a predetermined axis in a state inwhich the sensor 225 is provided in one area of the door. Here, the axismay be formed in the overall width direction when the door is atailgate. The axis may be formed in the overall height direction whenthe door is a side door. In this case, the sensor 225 may protrude fromthe door to rotate earlier than the door. The sensor 225 rotates earlierthan the door, such that the sensor 225 senses whether an object islocated within the opening trajectory of the door before the door isopened.

The sensor 225 may receive driving power from the sensor drive unit 226and move about a rotation axis different from the door. For example,when the door rotates about a first axis in a state in which the sensor225 is provided in one area of the door, the sensor 225 may rotate abouta second axis. Here, the first and second axes may be formed in theoverall width direction when the door is a tailgate. The first andsecond axes may be formed in the overall height direction when the dooris a side door.

The sensor 225 may sense an object within a predetermined sensing range.Here, the sensing range may be changed in correspondence with motion ofthe door. For example, when the tailgate is opened in a state in whichthe sensor 225 is provided in the tailgate to sense the object in apredetermined sensing range, the sensing range of the sensor 225 may bechanged such that the detected object is continuously tracked. Thesensing range may be changed when the sensor 225 receives driving powerfrom the sensor drive unit 226 and moves.

The sensor drive unit 226 may provide driving power for moving thesensor 225. For example, the sensor drive unit 226 may include a motorand at least one gear. The sensor drive unit 226 may operate undercontrol of the processor 270.

The interface 230 may receive a variety of signals, information or dataand transmit signals, information or data processed or generated in theprocessor 270 to an external device. The interface 230 may perform datacommunication with the controller 170, a vehicle display apparatus 160,the sensing unit 125, and the vehicle drive unit 150 inside the vehicleusing a wired or wireless communication method.

The interface 230 may receive navigation information via datacommunication with the controller 170, the vehicle display apparatus 160or a separate navigation apparatus. Here, the navigation information mayinclude destination information, information on a route to thedestination, map information related to vehicle traveling and currentposition information of the vehicle. The navigation information mayinclude information on the position of the vehicle on the road.

The interface 230 may receive sensor information from the controller 170or the sensing unit 125.

The sensor information may include various types of information relatedto the vehicle or the vehicle surroundings, for example, at least one ofvehicle direction information, vehicle position information (GPSinformation), vehicle angle information, vehicle speed information,vehicle acceleration information, vehicle tilt information, vehicleforward/reverse information, battery information, fuel information, tierinformation, vehicle lamp information, vehicle interior temperatureinformation, vehicle interior humidity information, and/or informationas to whether it is raining.

Such sensor information may be acquired from various types of sensors,such as a heading sensor, a yaw sensor, a gyro sensor, a positionmodule, a vehicle forward/reverse sensor, a wheel sensor, a vehiclespeed sensor, a vehicle tilt sensor, a battery sensor, a fuel sensor, atier sensor, a steering sensor based on rotation of the steering wheel,a vehicle inner temperature sensor, a vehicle inner humidity sensor,and/or a rain sensor. The position module may include, for example, aGPS module for receiving GPS information.

Information related to vehicle traveling such as vehicle directioninformation, vehicle position information, vehicle angle information,vehicle speed information, and/or vehicle tilt information may bereferred to as vehicle traveling information.

The interface 230 may provide a signal to the controller 170 or thevehicle drive unit 150. Here, the signal may be a control signal.

For example, the interface 230 may communicate with the power sourcedrive unit 151 for controlling the power source. The interface 230 mayprovide the signal generated in the processor 270 to the power sourcedrive unit 151.

For example, the interface 230 may communicate with the brake drive unit153 for controlling the brake apparatus. The interface 230 may providethe signal generated in the processor 270 to the brake drive unit 153.

The memory 240 may store a variety of data for overall operation of thevehicle door control apparatus 200, such as a program for processing orcontrol of the processor 270.

The memory 240 may be various storage apparatuses, which are implementedin a hardware manner, such as a ROM, RAM, EPROM, flash drive and harddrive. The memory 240 may be a subcomponent of the processor 270 in someimplementations.

The drive unit 250 may provide driving power for opening or closing ofthe door.

The drive unit 250 may include an apparatus (e.g., a motor) forgenerating driving power. In some implementations, the drive unit 250may include an electrically driven hinge. In this case, the door may berotated by the driving power provided by the electrically driven hingeto be opened or closed.

The processor 270 may control overall operation of the components of thevehicle door control apparatus 200.

The processor 270 may be electrically connected to the communicationunit 210, the input unit 220, the sensor 225, the sensor drive unit 226,the interface 230, the memory 240, the drive unit 250 and the powersupply unit 290.

The processor 270 may receive object information from the sensor 225.

The processor 270 may control opening or closing of the door based onthe object information sensed via the sensor 225.

For example, the processor 270 may provide a control signal to the driveunit 250. The processor 270 may control the drive unit 250 to controlopening or closing of the door.

If the sensor 225 is concealed by the emblem (e.g., emblem 30 of FIG.1C) formed in one area of the tailgate (e.g., tailgate 20 of FIGS. 1B to10), the processor 270 may control motion of the emblem (e.g., 30 ofFIG. 10) such that the sensor 225 is exposed, when a first event occurs.The first event may be an input signal reception event for opening thedoor, which is received via the input unit 220. Alternatively, the firstevent may be an input signal reception event for moving the emblem(e.g., 30 of FIG. 1C) received via the input unit 220.

For example, if the emblem (e.g., 30 of FIG. 10) may be rotated in theupper-and-lower direction or the right-and-left direction, the processor270 may control rotation of the emblem (e.g., 30 of FIG. 10) in theupper-and-lower direction or the right-and-left direction, when thefirst event occurs.

For example, the input unit 220 may be a lever type input deviceprovided around the emblem (e.g., 30 of FIG. 10). When an input signalfor opening the door is received via the lever type input device, theprocessor 270 may control motion of the emblem (e.g., 30 of FIG. 10).

For example, the lever type input device may receive a plurality ofinputs according to the motion amount of the lever. When input accordingto a first lever motion amount is received through the lever type inputdevice, the processor 270 may control motion of the emblem (e.g., 30 ofFIG. 10). When input according to a second lever motion amount isreceived through the lever type input device, the processor 270 maycontrol opening of the door.

The processor 270 may receive object sensing information from the sensor225.

The processor 270 may detect a distance between the door and the object.The processor 270 may detect the distance between the door and theobject using a variety of distance-determining techniques, including butnot limited to a pinhole, a motion vector, disparity or size change ofthe object.

The processor 270 may control opening or closing of the door based onthe detected distance.

The processor 270 may control opening of the door to the extent to whichthe door does not come into contact with the object, when the detecteddistance is within a threshold or reference range. The threshold orreference range may be set based on contact between the object and thedoor and a space necessary for a passenger to exit the vehicle orcontact between the object and the door and a space necessary to unloadluggage. By such control, the door may be opened to the extent to whichthe minimum space necessary for the passenger to exit the vehicle or theminimum space necessary to unload luggage is secured.

The processor 270 may control the door not to be opened even when thefirst event occurs, if the detected distance is equal to or less than athreshold or reference distance. By such control, it is possible toprevent collision between the object and the door due to opening of thedoor.

The processor 270 may stop opening of the door if the object is locatedwithin the opening trajectory of the door when the door is opened. Forexample, if the object is detected in the opening trajectory of the doorwhile the door is opened, the processor 270 may control the drive unit250 to stop the opening of the door.

In some implementations, if the door is a tailgate (e.g., tailgate 20 ofFIGS. 1B to 1C) and an object is located within the opening trajectoryof the tailgate, the processor 270 may provide a signal for moving thevehicle 100 forward. The processor 270 may provide the signal to thepower source drive unit 151 via the interface 230. For example, theprocessor 270 may provide a signal for moving the vehicle 100 forwardsuch that the object moves out of the opening trajectory of thetailgate. For example, the processor 270 may control the tailgate to beopened while the vehicle 100 moves forward. By such control, ifcollision with the object is predicted upon opening the tailgate, thevehicle may move forward and then the tailgate may be opened withoutcollision with the object. In addition, in some scenarios, bycontrolling opening of the tailgate while moving the vehicle, the delayof opening of the tailgate may be reduced while avoiding collision.

The processor 270 may also receive information regarding other objectsaround other areas of the vehicle to further improve safety of automatedopening of the vehicle doors. For example, in some implementations, theprocessor 270 may receive information regarding a front object locatedin front of the vehicle via the interface 230. The front object may besensed by the sensing unit (e.g., 125 of FIG. 2) of the vehicle 100.

In this scenario, if the front object is located on the movement pathwhen the vehicle moves forward, the processor 270 may provide a signalfor stopping the vehicle to the brake drive unit 153. By such control,when the vehicle moves forward to safely allow opening of the tailgatebehind the vehicle, the processor 270 may help prevent collision betweenthe resulting forward-moving vehicle and an object in front of thevehicle.

In some implementations, if a second event occurs in a state in whichthe tailgate (e.g., 20 of FIGS. 1B to 1C) is opened, the processor 270may control the tailgate to be closed. The second event may be, forexample, a door closing signal reception event received via the inputunit 220. In some scenarios, the processor 270 may provide a signal formoving the vehicle 100 backwards in correspondence with the closingspeed of the tailgate. The processor 270 may provide the signal to thepower source drive unit 151 via the interface 230.

The processor 270 may receive information on a rear object locatedbehind the vehicle 100 via the interface 230. When the information onthe rear object is received, the processor 270 may control the closingspeed of the tailgate to be higher than that of the tailgate when theinformation on the rear object is not received. By such control, it ispossible to prevent collision with the object.

The processor 270 may detect a distance from the object. The processor270 may provide the signal for stopping the vehicle 100 to the brakedrive unit 153, when the detected distance is equal to or less than thereference distance.

The processor 270 may stop closing of the door when the object islocated within the closing trajectory of the door, when the door isclosed.

If the door is a tailgate (e.g., 20 of FIGS. 1B to 1C) and the sensor225 is rotatably formed, the processor 270 may control rotation of thesensor 225 such that the inside of the tailgate is sensed when thesecond event occurs.

The sensor 225 may be rotated about a predetermined axis. Here, the axisis parallel to the axis about which the tailgate rotates.

The sensor 225 may receive driving force from a motor and rotate undercontrol of the processor 270.

The processor 270 may rotate the sensor 225 such that the sensor 225senses the outside of the tailgate, upon opening the tailgate. Forexample, the processor 270 may control rotation of the sensor 225 in thesame direction as the opening direction of the tailgate to sense theoutside of the tailgate, when the first event occurs. Thereafter, thesensor may rotate in the same direction as the closing direction of thetailgate while the tailgate is opened, thereby changing the sensingrange of the sensor 225. Thereafter, after the tailgate is completelyopened, rotation of the sensor 225 is completed and the sensor 225senses the inside of the tailgate.

The processor 270 may control the rotation speed of the sensor 225 incorrespondence with the opening speed of the tailgate or the openingdegree of the tailgate.

The processor 270 may rotate the sensor 225 such that the sensor 225senses the outside of the tailgate, upon closing the tailgate. Forexample, the processor 270 may control rotation of the sensor 225 in thesame direction as the closing direction of the tailgate to sense theinside of the tailgate, when the second event occurs. Thereafter, thesensor may rotate in the same direction as the opening direction of thetailgate while the tailgate is closed, thereby changing the sensingrange of the sensor 225. Thereafter, after the tailgate is completelyclosed, rotation of the sensor 225 is completed and the sensor 225senses the outside of the tailgate.

The processor 270 may control the rotation speed of the sensor 225 incorrespondence with the closing speed of the tailgate or the closingdegree of the tailgate.

The processor 270 may provide data such that a stop area in which thedoor may be opened or closed is displayed on the vehicle displayapparatus 160 based on object information. In this case, the vehicledisplay apparatus 160 may display a stop area in which the door may beopened or closed within a range within which the object and the door donot come into contact with each other.

The processor 270 may provide a signal to the brake drive unit 153 suchthat the vehicle stops in the stop area in which the door may be openedor closed based on the object information.

If the door is a side door, the processor 270 may control opening of thedoor within the range within which the side door and the object do notcome into contact with each other.

The processor 270 may be implemented using at least one selected fromamong Application Specific Integrated Circuits (ASICs), Digital SignalProcessors (DSPs), Digital Signal Processing Devices (DSPDs),Programmable Logic Devices (PLDs), Field Programmable Gate Arrays(FPGAs), processors, controllers, microcontrollers, microprocessors, andelectric units for implementation of other functions.

The power supply unit 290 may supply power required to operate therespective components under control of the processor 270. In particular,the power supply unit 290 may receive power from, for example, a batteryinside the vehicle 100.

FIG. 4 is a flowchart referenced to explain operation of a vehicle doorcontrol apparatus according to the implementation.

Referring to FIG. 4, the sensor 225 may sense an object. The processor270 may receive object information from the sensor 225 (S410). Here, theobject information may include information on presence/absence of anobject, position information of the object, information on a distancebetween the object and the vehicle or information on a distance betweenthe object and the door.

The processor 270 may generate object information. For example, if acamera is included in the sensor 225, the processor 270 may receiveimage data from the camera. The processor 270 may process the receivedimage data, detect an object and generate object information.

The processor 270 may control opening or closing of the door based onthe object information (S450). For example, the processor 270 mayprovide a control signal to the drive unit 250 and the drive unit 250may provide driving power such that the door is opened or closed.

Referring to FIGS. 5 to 14D, operation according to an implementation ofthe vehicle door control apparatus will be described. Here, assume thatthe sensor 225 is a camera.

FIG. 5 is a flowchart referenced to explain operation of a vehicle doorcontrol apparatus according to the implementation, and FIGS. 6A to 6Dare views referenced to explain operation of FIG. 5 according to animplementation.

Referring to the figures, the processor 270 may receive an image fromthe camera of the sensing unit 225 (S505). The camera may be provided inone area of the tailgate 20. The camera may acquire the image of theoutside of the tailgate. The processor 270 may receive the image of theoutside of the tailgate. The image of the outside of the tailgate may bea rear image of the vehicle in a state of closing the tailgate.

As shown in FIG. 6A, the processor 270 may detect an object 1000 fromthe received image and track the detected object 1000 (S510). Theprocessor 270 may detect a distance 610 between the tailgate 20 and theobject 1000 (S520).

For example, the processor 270 may detect the distance 610 between thetailgate 20 and the object 1000 using a pinhole, a motion vector,disparity or size change of the object.

For example, when the vehicle 100 moves, the object 1000 detected fromthe received image may appear to move. At this time, the processor 270may detect the distance 610 between the tailgate 20 and the object 1000based on change in motion of the object 1000 or change in size of theobject 1000.

For example, when the vehicle 100 moves, the processor 270 may detectthe distance 610 between the tailgate 20 and the object 1000 based ondisparity detected by tracking the object 1000 in an image of a firstframe and an image of a second frame received from the camera.

The processor 270 may receive a signal for opening the tailgate 20through the input unit 220.

As shown in FIG. 6B, the processor 270 may determine whether thedetected distance 610 is equal to or greater than a first referencedistance 601 (S540).

If the detected distance 610 is equal to or greater than the firstreference distance 601, the processor 270 may control opening of thetailgate 20 (S550).

As shown in FIG. 6C, the processor 270 may determine whether thedetected distance 610 is within a reference range 603 (S560).

If the detected distance 610 is within the reference range 603, theprocessor 270 may control the tailgate to be opened to the extent towhich the tailgate 20 and the object 1000 do not come into contact witheach other (S570).

As shown in FIG. 6D, the processor 270 may determine whether thedetected distance 610 is equal to or less than a second referencedistance 602 (S580).

If the detected distance 610 is equal to or less than the secondreference distance 602, the processor 270 may control the tailgate 20not to be opened (S590).

FIG. 7 is a flowchart referenced to explain operation of a vehicle doorcontrol apparatus according to the implementation, and FIGS. 8A to 8Care views referenced to explain operation of FIG. 7 according to animplementation.

Referring to the figures, the processor 270 may receive a signal foropening the tailgate 20 through the input unit 220 (S710).

The processor 270 may receive an image from the camera of the sensingunit 225 (S715).

The camera may be provided in one area of the tailgate (e.g., 20 ofFIGS. 1B to 1C).

For example, the sensor 225 may be concealed by the emblem (e.g., 30 ofFIG. 1C) provided in one area of the tailgate (e.g., 20 of FIGS. 1B to1C). In this case, the camera may usually be concealed by the emblem(e.g., 30 of FIG. 1C) and may be exposed to detect an object when aninput signal for opening the tailgate is received.

As shown in FIG. 8A, the processor 270 may detect the object 1000 fromthe received image and track the detected object 1000 (S720). Theprocessor 270 may detect a distance 610 between the tailgate and theobject 1000 (S725).

For example, the processor 270 may detect the distance 610 between thetailgate 20 and the object 1000 using a pinhole, a motion vector,disparity or size change of the object.

For example, when the tailgate 20 is opened, the object 1000 detectedfrom the received image may appear to move. At this time, the processor270 may detect the distance 610 between the tailgate 20 and the object1000 based on change in motion of the object 1000 or change in size ofthe object 1000.

For example, when the tailgate 20 is opened, the processor 270 maydetect the distance between the tailgate and the object 1000 based ondisparity detected by tracking the object 1000 in an image of a firstframe and an image of a second frame received from the camera.

The processor 270 may determine whether the object 1000 is located inthe opening trajectory 810 of the tailgate 20 based on the detecteddistance 600 (S730).

As shown in FIG. 8B, if the object 1000 is located in the openingtrajectory 810 of the tailgate 20, the processor 270 may stop opening ofthe tailgate 20 (S740). For example, if the object 1000 located in theopening trajectory is detected while the tailgate 20 is opened, theprocessor 270 may stop opening of the tailgate 20.

As shown in FIG. 8C, if the object 1000 is not located in the openingtrajectory 810 of the tailgate 20, the processor 270 may control openingof the tailgate 20 (S750).

FIG. 9 is a flowchart referenced to explain operation of a vehicle doorcontrol apparatus according to the implementation, and FIGS. 10A to 10Care views referenced to explain operation of FIG. 9 according to animplementation.

Referring to the figures, the processor 270 may receive a signal foropening the tailgate 20 through the input unit 220 (S910).

The processor 270 may receive an image from the camera of the sensingunit 225 (S915).

The camera may be provided in one area of the tailgate (20 of FIGS. 1Bto 10).

For example, the sensor 225 may be concealed by the emblem (30 of FIG.10) provided in one area of the tailgate (20 of FIGS. 1B to 10). In thiscase, the camera may usually be concealed by the emblem (30 of FIG. 10)and may be exposed to detect an object when an input signal for openingthe tailgate is received.

As shown in FIG. 10A, the processor 270 may detect the object 1000 fromthe received image and track the detected object 1000 (S920). Theprocessor 270 may detect a distance between the tailgate and the object1000, analogous to distance 610 in FIG. 8A (S925).

For example, the processor 270 may detect the distance 610 between thetailgate 20 and the object 1000 using a pinhole, a motion vector,disparity or size change of the object.

For example, when the tailgate 20 is opened, the object 1000 detectedfrom the received image may appear to move. At this time, the processor270 may detect the distance 610 between the tailgate 20 and the object1000 based on change in motion of the object 1000 or change in size ofthe object 1000.

For example, when the tailgate 20 is opened, the processor 270 maydetect the distance between the tailgate and the object 1000 based ondisparity detected by tracking the object 1000 in an image of a firstframe and an image of a second frame received from the camera.

The processor 270 may determine whether the object 1000 is located inthe opening trajectory 810 of the tailgate 20 based on the detecteddistance (e.g., distance 610 in FIG. 8A) (S930).

As shown in FIG. 10B, if the object 1000 is located in the openingtrajectory 1050 of the tailgate 20, the processor 270 may provide asignal for moving the vehicle 100 forward (1010) (S940). The processor270 may provide the signal to the power source drive unit 151 throughthe interface 230. For example, the processor 270 may provide a signalfor moving the vehicle 100 forward (1010) such that the object 1000moves out of the opening trajectory of the tailgate.

The processor 270 may detect the distance between the tailgate 20 andthe object 1000 from the continuously acquired image and determinewhether the tailgate 20 collides with the object 1000 upon opening thetailgate 20 based on the detected distance (S950).

As shown in FIG. 10C, if it is determined that the tailgate 20 does notcollide with the object 1000 upon opening the tailgate 20 by moving thevehicle 100, the processor 270 may control opening of the tailgate 20(S960).

If it is determined that tailgate 20 collides with the object 1000, theprocessor 270 may provide a signal for moving the vehicle 100 forward(1010) (S940).

Meanwhile, the processor 270 may control opening of the tailgate 20while the vehicle 100 moves forward. In this case, movement of thevehicle 100 and opening of the tailgate 20 may be controlled within arange within which the tailgate 20 does not collide with the object1000.

FIG. 11 is a flowchart referenced to explain operation of a vehicle doorcontrol apparatus according to the implementation, and FIGS. 12A to 12Care views referenced to explain operation of FIG. 11 according to animplementation.

Referring to the figures, in a state of opening the tailgate 20, theprocessor 270 may receive a signal for closing the tailgate 20 throughthe input unit 220 (S1110).

The processor 270 may receive an image from the camera of the sensingunit 225 (S1115).

The camera may be provided in one area of the tailgate (e.g., 20 ofFIGS. 1B to 1D). The camera may be rotatably formed. The processor 270may control rotation of the camera to sense the inside of the tailgateupon receiving the closing signal.

As shown in FIG. 12A, the processor 270 may detect the object 1000 fromthe received image and track the detected object 1000 (S1120). Theprocessor 270 may detect a distance between the tailgate and the object1000, analogous to detecting distance 610 in FIG. 8A (S1125).

For example, the processor 270 may detect the distance 610 between thetailgate 20 and the object 1000 using a pinhole, a motion vector,disparity or size change of the object.

For example, when the tailgate 20 is closed, the object 1000 detectedfrom the received image may appear to move. At this time, the processor270 may detect the distance 610 between the tailgate 20 and the object1000 based on change in motion of the object 1000 or change in size ofthe object 1000.

For example, when the tailgate 20 is closed, the processor 270 maydetect the distance between the tailgate 20 and the object 1000 based ondisparity detected by tracking the object 1000 in an image of a firstframe and an image of a second frame received from the camera.

The processor 270 may determine whether the object 1000 is located inthe closing trajectory 1250 of the tailgate based on the detecteddistance (e.g., distance 610 in FIG. 8A) (S1130).

As shown in FIG. 12B, if the object 1000 is located in the closingtrajectory 1250 of the tailgate 20, the processor 270 may stop closingof the tailgate 20 (S1140). For example, if the object 1000 located inthe closing trajectory 1250 is detected while closing the tailgate 20,the processor 270 may stop closing of the tailgate 20.

As shown in FIG. 12C, if the object 1000 is not located in the closingtrajectory 1250 of the tailgate 20, the processor 270 may controlclosing of the tailgate 20 (S1150).

FIG. 13 is a flowchart referenced to explain operation of a vehicle doorcontrol apparatus according to the implementation, and FIGS. 14A to 14Dare views referenced to explain operation of FIG. 13 according to animplementation.

Operation of the vehicle door control apparatus 200 described withreference to FIGS. 13 to 14D may be performed after the vehicle movesforward and the tailgate is opened in operation of the vehicle doorcontrol apparatus 200 described with reference to FIGS. 9 to 100.

Referring to the figures, the processor 270 may receive an image fromthe camera of the sensing unit 225 (S1305).

The camera may be provided in one area of the tailgate 20. The cameramay acquire the image of the outside of the tailgate. The processor 270may receive the image of the outside of the tailgate. The image of theoutside of the tailgate may be a rear image of the vehicle 100 in astate of closing the tailgate.

As shown in FIG. 14A, the processor 270 may detect the object 1000 fromthe received image and track the detected object 1000 (S1310). Theprocessor 270 may detect a distance 1410 between the tailgate 20 and theobject 1000.

For example, the processor 270 may detect the distance between thetailgate 20 and the object 1000 using a pinhole, a motion vector,disparity or size change of the object.

For example, when the vehicle 100 moves, the object 1000 detected fromthe received image may appear to move. At this time, the processor 270may detect the distance 1410 between the tailgate 20 and the object 1000based on change in motion of the object 1000 or change in size of theobject 1000.

For example, when the vehicle 100 moves, the processor 270 may detectthe distance 1410 between the tailgate 20 and the object 1000 based ondisparity detected by tracking the object 1000 in an image of a firstframe and an image of a second frame received from the camera.

The processor 270 may receive a signal for closing the tailgate 20through the input unit 220 (S1330).

As shown in FIG. 14B, the processor 270 may determine whether thedetected distance 1410 is equal to or greater than a first referencedistance 1401 (S1340).

If the detected distance 1410 is equal to or greater than the firstreference distance 1401, the processor 270 may control closing of thetailgate 20. In addition, the processor 270 may provide a signal formoving the vehicle backwards (S1350). At this time, the processor 270may provide a control signal for moving the vehicle 100 backwards whileclosing the tailgate 20. Meanwhile, the processor 270 may provide thesignal for moving the vehicle 100 backwards to the power source driveunit 151 through the interface 230.

As shown in FIG. 14C, the processor 270 may determine whether thedetected distance 1410 is within a reference range 1403 (S1360).

If the detected distance 1410 is within the reference range 1403, theprocessor 270 may control closing of the tailgate (S1370).

Thereafter, after the tailgate 20 is completely closed, the processor270 may provide a signal for moving the vehicle 100 backwards (S1375).Meanwhile, the processor 270 may provide the signal for moving thevehicle 100 backwards to the power source drive unit 151 through theinterface 230.

As shown in FIG. 14D, the processor 270 may determine whether thedetected distance 1410 is equal to or less than a second referencedistance 1402 (S1380).

If the detected distance 1410 is equal to or less than the secondreference distance 1402, the processor 270 may control the tailgate 20not to be closed (S1390).

FIG. 15 is a view referenced to explain operation of a vehicle displayapparatus based on object information received in a vehicle door controlapparatus according to an implementation.

Referring to FIG. 15, the processor 270 may provide data to the vehicledisplay apparatus 160 through the interface 230. Here, the data may bedata related to information on a stop area in which the door may beopened or closed based on object information.

The AVM apparatus may provide an image of the vicinity of the vehicle.The image of the vicinity of the vehicle may be a top-view image.

The vehicle display apparatus 160 may display an image corresponding todata received from the processor 270 on the top-view image provided viathe AVM apparatus.

The vehicle display apparatus 160 may display an object image 1520corresponding to an object. The vehicle display apparatus 160 maydisplay a stop area image 1530 corresponding to a stop area separatedfrom the object by a predetermined distance or more. Here, the stop areamay be an area where the tailgate does not come into contact with theobject upon opening of the tailgate in a state of stopping the vehicle100.

For example, the stop area image 1530 may be a top-view image, a boximage including predetermined colors or a parking line image.

FIG. 16 is a view referenced to explain operation of a vehicle whichstops in a stop area where a door may be opened or closed based onobject information according to an implementation.

Referring to FIG. 16, in a process of parking the vehicle 100, theprocessor 280 of the vehicle door control apparatus 200 may provide asignal to the brake drive unit 153 such that the vehicle stops in thestop area in which the door may be opened or closed based on the objectinformation.

Here, the stop area may be an area in which the distance between 1610between the object 1000 and the tailgate 20 is within the referencerange upon moving the vehicle 100 backwards. The stop area may be anarea in which contact with the object does not occur upon opening of thetailgate 20. The stop area may be an area where a person may take anobject out of the vehicle 100 at the back side of the vehicle 100, uponopening the tailgate 20.

Implementations described herein may have one or more of the followingeffects.

First, by providing a signal for opening or closing of the vehicle doorbased on object information, it is possible to prevent collision betweenthe vehicle door and an object located around the vehicle.

Second, if the door is a tailgate, the sensor is concealed by the emblemand, if necessary, is exposed to protect the sensor.

Third, since a sensor included in an apparatus provided in aconventional vehicle may be used, manufacturing cost is not increased.

Fourth, since opening or closing of the door and the movement of thevehicle are simultaneously controlled based on the distance from theobject, it is possible to increase user convenience.

The foregoing implementations may be implemented as code that can bewritten to a computer-readable recording medium and can thus be read bya computer. The computer-readable recording medium may be any type ofrecording device in which data can be stored in a computer-readablemanner. Examples of the computer-readable recording medium include ahard disk drive (HDD), a solid state drive (SSD), a silicon disk drive(SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, opticaldata storage, and a carrier wave (e.g., data transmission over theInternet). The computer may include the processor 270 or the controller170. The above exemplary implementations are therefore to be construedin all aspects as illustrative and not restrictive. The scope of theinvention should be determined by the appended claims and their legalequivalents, not by the above description, and all changes coming withinthe meaning and equivalency range of the appended claims are intended tobe embraced therein.

What is claimed is:
 1. A vehicle door control apparatus comprising: asensor provided on a door of a vehicle; and a processor configured tocontrol opening or closing of the door based on information regarding anobject sensed through the sensor.
 2. The vehicle door control apparatusaccording to claim 1, wherein: the door is a tailgate, the sensor iscovered by an emblem formed in one area of the tailgate, and theprocessor is configured to control motion of the emblem such that, basedon an occurrence of a first event, the processor controls a movement ofthe emblem to expose the sensor.
 3. The vehicle door control apparatusaccording to claim 2, wherein: the emblem is configured to rotate abouta horizontal axis or a vertical axis, and the processor is configured tocontrol a rotation of the emblem about the horizontal axis or about thevertical axis based on the occurrence of the first event.
 4. The vehicledoor control apparatus according to claim 3, wherein the first event isan input signal reception event for opening the door that is receivedthrough an input unit that is provided near the emblem.
 5. The vehicledoor control apparatus according to claim 1, wherein the sensor is anultrasonic sensor or a camera.
 6. The vehicle door control apparatusaccording to claim 5, wherein the camera comprises an around viewmonitoring (AVM) apparatus, a blind spot detection (BSD) apparatus, or arear camera apparatus provided in the vehicle.
 7. The vehicle doorcontrol apparatus according to claim 1, wherein the processor isconfigured to: detect a distance between the door and the object; andcontrol opening or closing of the door based on the distance detectedbetween the door and the object.
 8. The vehicle door control apparatusaccording to claim 7, wherein the processor is configured to: based onthe distance between the door and the object being within a thresholddistance, control opening of the door such that the door and the objectdo not come into contact.
 9. The vehicle door control apparatusaccording to claim 7, wherein the processor is configured to: based onthe distance between the door and the object being within a thresholddistance, provide a signal for controlling the door not to be openeddespite an occurrence of a first event.
 10. The vehicle door controlapparatus according to claim 1, wherein the processor is configured to:based on the door being opened, stop the opening of the door based onthe object sensed through the sensor being located within an openingtrajectory of the door.
 11. The vehicle door control apparatus accordingto claim 10, wherein: the sensor is configured to sense objects within asensing range, and the sensing range of the sensor is adapted incorrespondence with a motion of the door of the vehicle.
 12. The vehicledoor control apparatus according to claim 1, further comprising: aninterface configured to communicate with a power source drive unit thatis configured to control a power source provided in the vehicle, whereinthe door is a tailgate, and the processor is further configured to:based on the object sensed by the sensor being located within an openingtrajectory of the tailgate, provide a signal, to the power source driveunit, for moving the vehicle in a forward direction.
 13. The vehicledoor control apparatus according to claim 12, wherein the processor isconfigured to provide the signal to the power source drive unit formoving the vehicle in the forward direction by a distance such that theobject sensed by the sensor is outside of the opening trajectory of thetailgate.
 14. The vehicle door control apparatus according to claim 13,wherein the processor is further configured to control an opening of thetailgate while the vehicle moves in the forward direction.
 15. Thevehicle door control apparatus according to claim 13, wherein: theinterface is configured to communicate with a brake drive unit that isconfigured to control a brake apparatus provided in the vehicle, and theprocessor is further configured to: receive, through the interface,information regarding a forward object located in front of the vehicle,and provide a signal, to the brake drive unit, for stopping the vehiclebased on the forward object being located on a movement route of thevehicle moving in the forward direction.
 16. The vehicle door controlapparatus according to claim 14, wherein the processor is furtherconfigured to: based on a second event occurring in a state of openingthe tailgate, control closing of the tailgate, and provide a signal formoving the vehicle in a backwards direction such that a backwardmovement of the vehicle is in correspondence with a closing speed of thetailgate.
 17. The vehicle door control apparatus according to claim 16,wherein the processor is further configured to: based on receiving,through the interface, information regarding a rear object locatedbehind the vehicle, control the tailgate to close with a first closingspeed that is greater than a second closing speed with which thetailgate is closed based on the information regarding the rear objectnot being received.
 18. The vehicle door control apparatus according toclaim 16, wherein: the interface is configured to communicate with abrake drive unit for controlling a brake apparatus provided in thevehicle, and the processor is configured to: detect a distance betweenthe vehicle and the object; and provide a signal, to the brake driveunit, for' stopping the vehicle based on the distance being within athreshold distance.
 19. The vehicle door control apparatus according toclaim 1, wherein the processor is configured to, based on closing thedoor, stop the closing of the door based on the object being locatedwithin a closing trajectory of the door.
 20. The vehicle door controlapparatus according to claim 19, wherein: the door is a tailgate, thesensor is rotatably formed, and the processor is configured to control arotation of the sensor based on an occurrence of an event.
 21. Thevehicle door control apparatus according to claim 1, further comprisingan interface configured to communicate with a vehicle display apparatus,wherein the processor is configured to provide data to display, on thevehicle display apparatus, a stop area in which the door is able to beopened or closed based on the information regarding the object.
 22. Thevehicle door control apparatus according to claim 1, further comprisingan interface configured to communicate with a brake drive unit that isconfigured to control a brake apparatus provided in the vehicle, whereinthe processor is configured to provide a signal to the brake drive unitto stop the vehicle in a stop area in which the door is able to beopened or closed based on the object information.
 23. The vehicle doorcontrol apparatus according to claim 1, wherein: the door is a sidedoor, and the processor is configured to control opening of the doorwithin a range in which the side door and the object do not come intocontact.
 24. A vehicle comprising the vehicle door control apparatusaccording to claim 1.